[Cecil]

We have used Jags for the past 3 years, and haven't had too many problems with it. Last year, we tried to implement CAN using the 2CAN system, but we couldn't work out the bugs with it. Something with a packet read error. Nobody could figure it out, and we even tested every cable with an electronic tester. The error would slow the code down to the point where there was a 2-3 second lag between moving the joystick and the robot moving. We switched back to PWM's, and everything worked fine. So far, I think we have only lost 1 Jag to actual failure (was a tan Jag someone pulled the screws out all the way on). We currently have 2 sitting in the closet that may be dead, but we aren't sure. Eventually, they will (hopefully) be re-flashed with firmware, and will (hopefully) work again.

As for Victors, yes, they are still smaller in design. The PWM connectors on them sometimes don't line up with the cable, and there is no way to keep them in once they are there other than gluing them in some way. The Jags have a nice clip to keep the wire in place. Also, I don't think I will ever miss reaching my hand into the robot somewhere and jumping when I hit the fans on the Victors… I know I'm not the only one who has done that...